{"id":"https://openalex.org/W3210449764","doi":"https://doi.org/10.1109/itsc48978.2021.9564565","title":"Design of Fail-safe Model Predictive Controller for Sudden Changes in Driving Scenes","display_name":"Design of Fail-safe Model Predictive Controller for Sudden Changes in Driving Scenes","publication_year":2021,"publication_date":"2021-09-19","ids":{"openalex":"https://openalex.org/W3210449764","doi":"https://doi.org/10.1109/itsc48978.2021.9564565","mag":"3210449764"},"language":"en","primary_location":{"id":"doi:10.1109/itsc48978.2021.9564565","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9564565","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068687167","display_name":"Ha H. Bui","orcid":"https://orcid.org/0000-0001-8071-5433"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Ha Bui","raw_affiliation_strings":["Faculty of Mechanical Systems, Engineering Nagoya University, Nagoya, Aichi, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Systems, Engineering Nagoya University, Nagoya, Aichi, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001049082","display_name":"Arun Muraleedharan","orcid":"https://orcid.org/0000-0003-4088-3613"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Arun Muraleedharan","raw_affiliation_strings":["Faculty of Mechanical Systems, Engineering Nagoya University, Nagoya, Aichi, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Systems, Engineering Nagoya University, Nagoya, Aichi, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031789092","display_name":"Srishti Sinha","orcid":"https://orcid.org/0000-0001-7000-1816"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Srishti Sinha","raw_affiliation_strings":["Faculty of Mechanical Systems, Engineering Nagoya University, Nagoya, Aichi, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Systems, Engineering Nagoya University, Nagoya, Aichi, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070852186","display_name":"Hiroyuki Okuda","orcid":"https://orcid.org/0000-0002-2910-4634"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroyuki Okuda","raw_affiliation_strings":["Faculty of Mechanical Systems, Engineering Nagoya University, Nagoya, Aichi, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Systems, Engineering Nagoya University, Nagoya, Aichi, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079754847","display_name":"Tatsuya Suzuki","orcid":"https://orcid.org/0000-0002-0182-308X"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tatsuya Suzuki","raw_affiliation_strings":["Faculty of Mechanical Systems, Engineering Nagoya University, Nagoya, Aichi, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Systems, Engineering Nagoya University, Nagoya, Aichi, Japan","institution_ids":["https://openalex.org/I60134161"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5068687167"],"corresponding_institution_ids":["https://openalex.org/I60134161"],"apc_list":null,"apc_paid":null,"fwci":0.1373,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.46349859,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"52","issue":null,"first_page":"790","last_page":"797"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7658735513687134},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7517096996307373},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7381903529167175},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6980812549591064},{"id":"https://openalex.org/keywords/cruise-control","display_name":"Cruise control","score":0.5670133829116821},{"id":"https://openalex.org/keywords/generalized-minimal-residual-method","display_name":"Generalized minimal residual method","score":0.5636099576950073},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.5323204398155212},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5307576656341553},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.44871336221694946},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4346972703933716},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2007790207862854},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16233697533607483},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.15932759642601013},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1249469518661499}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7658735513687134},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7517096996307373},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7381903529167175},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6980812549591064},{"id":"https://openalex.org/C113168747","wikidata":"https://www.wikidata.org/wiki/Q507295","display_name":"Cruise control","level":3,"score":0.5670133829116821},{"id":"https://openalex.org/C155332342","wikidata":"https://www.wikidata.org/wiki/Q1432976","display_name":"Generalized minimal residual method","level":3,"score":0.5636099576950073},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.5323204398155212},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5307576656341553},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.44871336221694946},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4346972703933716},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2007790207862854},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16233697533607483},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.15932759642601013},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1249469518661499},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc48978.2021.9564565","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9564565","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1986773304","https://openalex.org/W1987656566","https://openalex.org/W1988932695","https://openalex.org/W1999502602","https://openalex.org/W2035542193","https://openalex.org/W2038051530","https://openalex.org/W2043164186","https://openalex.org/W2050270365","https://openalex.org/W2050982928","https://openalex.org/W2073787051","https://openalex.org/W2121097709","https://openalex.org/W2142597925","https://openalex.org/W2156963939","https://openalex.org/W2336996334","https://openalex.org/W2410081681","https://openalex.org/W2900590327","https://openalex.org/W2903941697","https://openalex.org/W2937398711","https://openalex.org/W2973426983","https://openalex.org/W3109132070","https://openalex.org/W3133836538","https://openalex.org/W4245543272","https://openalex.org/W6999400830"],"related_works":["https://openalex.org/W2358905935","https://openalex.org/W3046241855","https://openalex.org/W2139875628","https://openalex.org/W1995427418","https://openalex.org/W70795231","https://openalex.org/W2788372305","https://openalex.org/W2040391781","https://openalex.org/W2538790291","https://openalex.org/W2357501489","https://openalex.org/W2080896647"],"abstract_inverted_index":{"There":[0],"are":[1],"a":[2,10,62,85,99],"variety":[3],"of":[4,17,91,109,138,141,148,155],"optimization":[5,47,143],"methods":[6,48],"available":[7],"to":[8,21,51,105,157],"solve":[9],"Model":[11,70],"Predictive":[12,71],"Control":[13,72,95],"(MPC)":[14],"problem.":[15,88],"Each":[16],"them":[18],"is":[19,49,103],"found":[20],"be":[22],"particularly":[23],"suited":[24],"for":[25],"certain":[26,33],"driving":[27,118],"tasks,":[28],"while":[29,83],"equally":[30],"lacking":[31],"in":[32,116,125,133],"other":[34],"tasks.":[35],"Therefore,":[36],"an":[37,92],"MPC":[38,87],"controller":[39,63,112,130],"that":[40,64],"can":[41],"automatically":[42],"and":[43,56,75,152],"smoothly":[44,66],"switch":[45],"between":[46,67],"expected":[50],"show":[52],"higher":[53],"safety":[54],"levels":[55],"improved":[57],"performance.":[58],"This":[59],"paper":[60],"proposes":[61],"switches":[65],"the":[68,76,107,110,117,139,146,153],"Randomized":[69],"(RMPC)":[73],"method":[74,82,144],"Continuous/":[77],"Generalized":[78],"Minimal":[79],"Residual":[80],"(C/GMRES)":[81],"solving":[84],"non-linear":[86],"The":[89,120,128],"behavior":[90],"Adaptive":[93],"Cruise":[94],"(ACC)":[96],"system":[97,159],"under":[98,113],"sudden":[100,114,158],"cut-in":[101],"situation":[102,122],"chosen":[104],"demonstrate":[106],"advantages":[108],"proposed":[111,129],"changes":[115],"scene.":[119],"control":[121],"was":[123],"evaluated":[124],"numerical":[126],"simulations.":[127],"shows":[131],"improvement":[132],"performance":[134],"by":[135,150],"taking":[136],"advantage":[137],"strength":[140],"each":[142],"-":[145],"smoothness":[147],"solution":[149],"C/GMRES":[151],"robustness":[154],"RMPC":[156],"changes.":[160]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}